To install modules

On the target, determine whether following modules are loaded, by running the lsmod command in the Linux shell.
```
can.ko
can-dev.ko
mttcan.ko
mttcan_ivc.ko
```
If the modules are not loaded, determine whether they are in following, directory:
```
/lib/modules
```
If the modules are not in this directory, set the following CONFIG options in defconfig and rebuild kernel.
```
CONFIG_CAN=m
CONFIG_CAN_RAW=m
CONFIG_CAN_DEV=m
CONFIG_MTTCAN=m
CONFIG_MTTCAN_IVC=m
```
Alternatively, these options can be set using the instructions described in Compiling the Kernel in the NVIDIA DRIVE OS 6.0 Linux PDK Development Guide, "To compile the kernel" topic, steps 1-3 to:
- Setup the environment macros
- Set the kernel source directory
- Create an output directory and configure the kernel for the board

Execute the following command.

make -C kernel O=${PWD}/out-linux 
DEFCONFIG_PATH=$PWD/t23x/arch/arm64/configs menuconfig
[*] Networking support --->
    <M> CAN bus subsystem support ---> 
    <M> Raw CAN Protocol (raw access with CAN-ID filtering)
    <M> CAN Device Drivers --->
    <M> Platform CAN drivers with Netlink support
    <M> Bosch M_TTCAN Devices
    <M> Bosch M_TTCAN IVC Devices

Exit and save.
Rebuild the kernel and copy the kernel Image from the kernel out directory to:
```
drive-linux/kernel
```
For more information, see Compiling the Kernel in the NVIDIA DRIVE OS 6.0 Linux PDK Development Guide.
Reflash the target.
For more information, see Flashing.
Load all required modules.
```
# modprobe mttcan
# modprobe mttcan_ivc
```
This command assumes module dependencies are properly set.

If the modprobe command fails, manually load the modules:

insmod /lib/modules/<KERNEL_VERSION>/kernel/net/can/can.ko
insmod /lib/modules/<KERNEL_VERSION>/kernel/drivers/net/can/can-dev.ko
insmod /lib/modules/<KERNEL_VERSION>/t18x/drivers/staging/mttcan/mttcan.ko
insmod /lib/modules/<KERNEL_VERSION>/t18x/drivers/net/can/mttcan /ivc/mttcan_ivc.ko

Note:

The <KERNEL_VERSION> is in the form of x.x.xx-rtxx-tegra. For example, 4.4.38-rt49-tegra.